A hydraulically driven dual-arm laser cladding crack repair robot and construction method

Abstract

The present invention discloses a hydraulically driven double-arm laser cladding crack repair robot and construction method, including: a chassis system; a lifting arm system, which includes a lower base of the lifting arm, which is arranged on the chassis; an upper base of the lifting arm, which is connected to the upper base of the lifting arm through a connecting rod mechanism; a rotating platform system, which includes a lower rotating platform, which rotates on the upper base of the lifting arm; an upper rotating platform, which is driven to rotate on the lower rotating platform; a crack repair system, including a groove arm and a welding arm, which are arranged on the upper rotating platform; a groove cutting saw and a laser powder feeding cladding head, which are respectively arranged at the head ends of the groove arm and the welding arm; a control system. The present invention adopts a chassis system to cooperate with a lifting arm system and a rotating platform system with two degrees of freedom to deliver the crack repair system to a designated space area, and adopts a groove arm and a welding arm to perform groove processing and laser cladding welding operations on the cracks to be repaired, thereby improving the repair efficiency and repair quality.

Description

Technical Field

[0001] The present invention relates to the field of bridge maintenance, and more specifically, to a hydraulically driven dual-arm laser cladding crack repair robot and a construction method. Background Art

[0002] With the continuous advancement of bridge design and construction technology, long-span bridges have developed rapidly. Since steel box girders are generally fully welded structures, fatigue cracks are prone to occur as the service time increases under the action of vehicle alternating loads. At present, the main method for repairing fatigue cracks in bridge steel structures is to manually process grooves at the edges of cracks, and then manually weld the cracks at the grooves to achieve the purpose of crack repair. When using traditional methods to repair cracks on the top plate and U-ribs of bridge steel box girders, multiple construction workers need to carry multiple work tools at the same time to repair cracks. In most cases, additional brackets or ladders are required to allow construction workers to reach the specified construction height. Traditional welding is affected by factors such as construction worker technology, welding rod quality, and welding current, and is prone to welding defects of varying degrees. When repairing multiple cracks on the entire steel box girder top plate and U-ribs, many construction workers are required, the repair period is long, and there are also major safety hazards.

[0003] In order to solve the above problems, it is necessary to provide a hydraulically driven dual-arm laser cladding crack repair robot and a construction method to improve the repair efficiency while ensuring the repair quality. Summary of the invention

[0004] The purpose of the present invention is to provide a hydraulically driven dual-arm laser cladding crack repair robot and a construction method. A chassis system is used in conjunction with a two-degree-of-freedom lifting arm system and a rotating platform system to deliver the crack repair system to a designated space area. The crack repair system uses a groove arm and a welding arm to perform groove processing and laser cladding welding operations on the cracks to be repaired, respectively. The action mechanisms in each system are hydraulically driven, which improves the repair efficiency and quality while ensuring the stability of the crack repair.

[0005] In order to achieve these purposes and other advantages according to the present invention, a hydraulically driven dual-arm laser cladding crack repair robot is provided, comprising:

[0006] A chassis system, which includes a chassis that moves along the ground by being driven by wheels;

[0007] A lifting arm system, comprising a lifting arm lower base, which is fixed on the top surface of the chassis; a lifting arm upper base, which is arranged above the chassis; a connecting rod mechanism, which connects the lifting arm lower base and the lifting arm upper base, and the connecting rod mechanism is configured to adjust the spacing between the lifting arm upper base and the lifting arm lower base in the vertical direction and the horizontal longitudinal direction;

[0008] The rotary platform system comprises a lower rotary platform, which is arranged on the top surface of the upper base of the lifting arm and is driven to rotate in the horizontal direction by a lower driving device; an upper rotary platform, which is arranged on the top surface of the front end of the lower rotary platform and is driven to rotate in the horizontal direction by an upper driving device;

[0009] The crack repair system includes a groove arm and a welding arm, and the bases thereof are respectively arranged on both sides of the top of the upper rotary platform; a groove cutting saw is arranged at the head end of the groove arm; a laser powder feeding cladding system includes a laser powder feeding cladding head, which is arranged at the head end of the welding arm;

[0010] A control system includes a hydraulic pump station, which is configured to provide power for the chassis system, the connecting rod mechanism, the lower drive device, the upper drive device, the bevel arm, the welding arm and the bevel cutting saw; a bevel arm control valve group, which is configured to control the movement of the bevel arm; a welding arm control valve group, which is configured to control the movement of the welding arm; and a controller, which is electrically connected to the chassis system, the connecting rod mechanism, the lower drive device, the upper drive device, the bevel cutting saw, the bevel arm control valve group, and the welding arm control valve group.

[0011] Preferably, the hydraulically driven dual-arm laser cladding crack repair robot also includes a visual positioning system, which is electrically connected to the controller, and the visual positioning system includes a positioning bracket, which is located between the groove arm and the welding arm and is vertically fixed on the upper rotary platform; a basic positioning vision module, which is fixed on the top of the positioning bracket; a groove approach vision positioning module, which is arranged on the groove cutting saw and used to detect the cutting trajectory; and a welding approach vision positioning module, which is arranged on the laser powder feeding cladding head and used to detect the welding trajectory.

[0012] Preferably, in the hydraulically driven dual-arm laser cladding crack repair robot, the lower base of the lifting arm and the upper base of the lifting arm are both located on a vertical plane where the longitudinal center line of the chassis is located.

[0013] Preferably, the hydraulically driven dual-arm laser cladding crack repair robot, the connecting rod mechanism includes: a lifting arm joint, which is arranged at the other end of the chassis opposite to the lower base of the lifting arm and is located above the chassis; a lifting arm, one end of which is hinged to the lower base of the lifting arm, and the other end is hinged to the lower part of the lifting arm joint; a lifting arm hydraulic cylinder, a fixed end of which is hinged to the lower base of the lifting arm, and a pushing end is hinged to the lifting arm; a lifting fork arm, one end of which is hinged to the lifting arm joint, and the other end is hinged to the upper base of the lifting arm; a lifting fork arm hydraulic cylinder, a fixed end of which is hinged to the lifting arm joint, and a pushing end is hinged to the lifting fork arm.

[0014] Preferably, the hydraulically driven dual-arm laser cladding crack repair robot, the groove arm and the welding arm are both six-axis serial robot arms, which include a robot arm base, which is fixed to the top surface of the upper rotary platform; a shoulder joint, which is arranged on the robot arm base and driven by a shoulder joint motor 1 to rotate horizontally around the axis of the robot arm base; a robot arm, whose tail end is hinged to the shoulder joint through a shoulder joint motor 2; an elbow joint, which is hinged to the head end of the robot arm through an elbow joint motor 1; a robot forearm, whose tail end is arranged on the elbow joint and is driven to rotate around the axis of the robot forearm through an elbow joint motor 2; a wrist joint, which is hinged to the head end of the robot forearm through a wrist joint motor 1; a flange, which is arranged on the wrist joint and driven by a wrist joint motor 2 to rotate around the axis of the wrist joint;

[0015] Among them, the shoulder joint motor 1, the shoulder joint motor 2, the elbow joint motor 1, the elbow joint motor 2, the wrist joint motor 1 and the wrist joint motor 2 on the same robotic arm are all electrically connected to the groove arm control valve group or the welding arm control valve group.

[0016] Preferably, in the hydraulically driven dual-arm laser cladding crack repair robot, the bevel cutting saw comprises a cutting saw bracket, which is fixedly connected to the flange of the bevel arm; a saw blade, which is arranged on the cutting saw bracket; a cutting saw motor, which is arranged on the cutting saw bracket and drives the saw blade to rotate, and the cutting saw motor is electrically connected to the controller;

[0017] The laser powder feeding cladding head is connected to the flange of the welding arm. The laser powder feeding cladding system also includes a laser cladding powder feeder, a laser cladding control cabinet, a laser cladding chiller, a laser cladding voltage stabilizer and a laser. The laser cladding control cabinet is electrically connected to the controller.

[0018] Preferably, the hydraulically driven dual-arm laser cladding crack repair robot, the control system also includes a plurality of pressure sensors, which are respectively arranged on the motors in the shoulder joint, the elbow joint and the wrist joint, any one of the pressure sensors is electrically connected to the controller and is configured to detect the inlet and outlet oil pressures of the corresponding motor; a plurality of encoders, which are respectively arranged on the motors in the shoulder joint, the elbow joint and the wrist joint, any one of the encoders is electrically connected to the controller and is configured to detect the rotational speed of the corresponding motor.

[0019] Preferably, the hydraulically driven dual-arm laser cladding crack repair robot, the rotary platform system also includes a tool box, which is arranged on the top surface of the rear end of the lower rotary platform, and the laser cladding powder feeder, laser cladding control cabinet, laser cladding chiller, laser cladding voltage stabilizer, laser and the controller of the laser powder feeding cladding system are all arranged inside the tool box.

[0020] The present invention also provides a hydraulically driven double-arm laser cladding crack repair construction method, comprising:

[0021] S1, driving the chassis system to move along the ground, allowing the hydraulically driven dual-arm laser cladding crack repair robot to move below the crack to be repaired, and leveling the entire vehicle;

[0022] S2. Lift the upper base of the lifting arm through the connecting rod mechanism to make the upper rotary platform reach the set construction height;

[0023] S3, respectively adjusting the rotation angles of the lower rotary platform and the upper rotary platform through the lower driving device and the upper driving device, so that the groove arm and the welding arm move horizontally to the vicinity of the crack to be repaired;

[0024] S4, identifying the specific location of the crack to be repaired, the crack trajectory and the operating space around the crack through the basic positioning vision module, and transmitting the collected basic positioning data to the controller through electrical signals;

[0025] S5. The controller plans the cutting trajectory of the groove arm and the welding trajectory of the welding arm according to the basic positioning data;

[0026] S6. Send a command signal to the beveling arm control valve group through the controller, so that the motors of each joint of the beveling arm are actuated to move the saw blade of the beveling cutting saw to the position to be cut, and then start the cutting saw motor, and adjust the rotation angle of each joint of the beveling arm according to the planned cutting trajectory, and operate the saw blade to open a beveling of a specified depth and angle;

[0027] S7, a command signal is sent to the control valve group of the welding arm through the controller, and the motors of each joint of the welding arm are actuated to move the laser powder feeding cladding head to the position to be welded, and then the laser powder feeding cladding system is started, and the rotation angles of each joint of the welding arm are adjusted according to the planned welding trajectory, and the laser powder feeding cladding head is operated to perform the laser powder feeding welding operation;

[0028] S8, control the groove arm, welding arm, rotary platform system and lifting arm system to reset through the controller, and prepare for the next crack repair work;

[0029] S9, repeat the contents of S1-S8 to carry out the next repair operation.

[0030] Preferably, in the hydraulically driven dual-arm laser cladding crack repair construction method, in S6, the cutting trajectory of the groove arm is detected in real time by the groove asymptotic positioning visual module and the collected cutting trajectory data is fed back to the controller, the deviation between the real-time cutting trajectory and the planned cutting trajectory is analyzed and compared by the controller, and then the deviation correction signal is sent to the groove arm control valve group by the controller to perform closed-loop control on the cutting trajectory;

[0031] In S7, the welding trajectory of the welding arm is detected in real time through the welding asymptotic positioning vision module and the collected welding trajectory data is fed back to the controller. The controller analyzes and compares the deviation between the real-time welding trajectory and the planned welding trajectory, and then sends a deviation correction signal to the welding arm control valve group through the controller to perform closed-loop control of the welding trajectory.

[0032] The present invention has at least the following beneficial effects:

[0033] 1. The present invention adopts a two-degree-of-freedom lifting arm system and a two-degree-of-freedom rotating platform system to move the crack repair system to a reasonable spatial position in the vertical and horizontal directions, ensuring that the groove arm and the welding arm have the optimal spatial position; at the same time, the crack repair system uses the groove arm and the welding arm to respectively operate the groove cutting saw and the laser powder feeding cladding head to complete the fatigue crack repair work of the bridge steel box girder in an orderly, stable, accurate and efficient manner, which greatly reduces the workload of the construction personnel and avoids the influence of artificial subjective factors (personnel technology, welding rod quality, welding current, etc.) on the construction progress, effectively improving the construction efficiency and construction quality;

[0034] 2. The present invention uses a combined positioning method of basic vision and asymptotic vision to accurately position the robot's operating trajectory during construction, ensuring the accuracy of the identified crack position and trajectory, and further improving the efficiency and quality of crack repair;

[0035] 3. The present invention adopts robot automated construction to repair cracks in bridge steel structures, which greatly reduces the number of construction workers and the time of crack repair work. There is no need to add supports or ladders for construction workers to reach the specified construction height, which effectively reduces the safety risks of bridge steel structure crack repair construction.

[0036] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the overall structure of a hydraulically driven dual-arm laser cladding crack repair robot in an initial state according to an embodiment of the present invention;

[0038] Figure 2 is a front view of the hydraulically driven dual-arm laser cladding crack repair robot in the above embodiment in an initial state;

[0039] Figure 3 is a side view of the hydraulically driven dual-arm laser cladding crack repair robot in the above embodiment in an initial state;

[0040] Figure 4 is a top view of the hydraulically driven dual-arm laser cladding crack repair robot in the initial state described in the above embodiment;

[0041] Figure 5 is an axonometric view of the groove arm in the initial state described in the above embodiment;

[0042] Figure 6 It is a front view of the groove arm in the initial state described in the above embodiment;

[0043] Figure 7 is an axonometric view of the welding arm in the initial state described in the above embodiment;

[0044] Figure 8 is a front view of the welding arm in the initial state described in the above embodiment;

[0045] Fig. 9 This is an axonometric diagram of the hydraulically driven dual-arm laser cladding crack repair robot in the above embodiment in a working state;

[0046] Fig.10 It is a front view of the hydraulically driven dual-arm laser cladding crack repair robot in the above embodiment in a working state;

[0047] Fig.11 is an axonometric view of the groove arm in the working state described in the above embodiment;

[0048] Fig.12 is an axonometric view of the welding arm in the working state described in the above embodiment;

[0049] Fig.13 is an axonometric diagram of the lifting arm system in the above embodiment in a working state;

[0050] Fig.14 is an axonometric diagram of the rotary platform system in the above embodiment in a working state;

[0051] Fig.15 A schematic diagram of the construction structure of S1 in a hydraulically driven dual-arm laser cladding crack repair construction method according to an embodiment of the present invention;

[0052] Fig.16 Schematic diagram of the construction structure of S2 in the above embodiment;

[0053] Fig.17 Schematic diagram of the construction structure of S3 in the above embodiment;

[0054] Fig.18 Schematic diagram of the construction structure of S6 described in the above embodiment;

[0055] Fig.19 Schematic diagram of the construction structure of S7 in the above embodiment;

[0056] Fig. 20 It is a schematic diagram of the construction structure of S8 described in the above embodiment.

[0057] Description of reference numerals:

[0058] 1. Chassis system; 201. Lower base of lifting arm; 202. Lower connecting rod of lifting arm; 203. Upper connecting rod of lifting arm; 204. Hydraulic cylinder of lifting arm; 205. Joint of lifting arm; 206. Hydraulic cylinder of lifting arm; 207. Lower connecting rod of lifting arm; 208. Upper connecting rod of lifting arm; 209. Upper base of lifting arm; 301. Lower slewing platform; 302. Lower driving device; 303. Upper slewing platform; 304. Upper driving device; 305. Tool box; 401. Positioning bracket; 402. Basic positioning vision module; 403. Bevel approach vision positioning module; 404. Welding approach vision positioning module; 5. Bevel arm; 501. Bevel arm base; 502. Bevel arm shoulder joint; 503. Bevel arm shoulder joint motor 1; 504. Bevel arm shoulder joint motor 2; 505. Bevel arm; 506. Bevel arm elbow joint; 507. Bevel arm elbow joint motor 1; 508. Bevel arm elbow joint motor 2; 509. Bevel arm; 510. Bevel arm wrist joint; 511. Bevel arm wrist joint motor 1; 512, bevel arm wrist joint motor 2; 513, bevel arm flange; 6, bevel cutting saw; 601, cutting saw bracket; 602, cutting saw motor; 603, saw blade; 7, welding arm; 701, welding arm base; 702, welding arm shoulder joint; 703, welding arm shoulder joint motor 1; 704, welding arm shoulder joint motor 2; 705, welding arm; 706, welding arm elbow joint; 707, welding arm elbow joint motor 1; 708, welding arm elbow joint motor 709, welding arm; 710, welding arm wrist joint; 711, welding arm wrist joint motor one; 712, welding arm wrist joint motor two; 713, welding arm flange; 801, laser powder feeding cladding head; 802, laser cladding powder feeding machine; 803, laser cladding control cabinet; 804, laser cladding chiller; 805, laser cladding voltage stabilizer; 806, laser; 901, hydraulic pump station; 902, groove arm control valve group; 903, welding arm control valve group; 904, electric control box. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0060] It should be noted that the experimental methods described in the following embodiments are conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified; in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0061] like Figure 1-20 As shown, the present invention provides a hydraulically driven dual-arm laser cladding crack repair robot, comprising:

[0062] A chassis system 1, which includes a chassis, which moves along the ground by wheel drive;

[0063] The lifting arm system comprises a lifting arm lower base 201 fixed on the top surface of the chassis; a lifting arm upper base 209 arranged above the chassis; a connecting rod mechanism connecting the lifting arm lower base 201 and the lifting arm upper base 209, wherein the connecting rod mechanism is configured to adjust the distance between the lifting arm upper base 209 and the lifting arm lower base 201 in the vertical direction and the horizontal longitudinal direction;

[0064] The rotary platform system includes a lower rotary platform 301, which is arranged on the top surface of the upper base 209 of the lifting arm and is driven to rotate in the horizontal direction by a lower driving device 302; an upper rotary platform 303, which is arranged on the top surface of the front end of the lower rotary platform 301 and is driven to rotate in the horizontal direction by an upper driving device 304;

[0065] The crack repair system includes a groove arm 5 and a welding arm 7, whose bases are respectively arranged on both sides of the top of the upper rotary platform 303; a groove cutting saw 6, which is arranged at the head end of the groove arm 5; a laser powder feeding cladding system, which includes a laser powder feeding cladding head 801, which is arranged at the head end of the welding arm 7;

[0066] A control system includes a hydraulic pump station 901, which is configured to provide power for the chassis system 1, the connecting rod mechanism, the lower drive device 302, the upper drive device 304, the bevel arm 5, the welding arm 7 and the bevel cutting saw 6; a bevel arm control valve group 902, which is configured to control the movement of the bevel arm 5; a welding arm control valve group 903, which is configured to control the movement of the welding arm 7; and a controller, which is electrically connected to the chassis system 1, the connecting rod mechanism, the lower drive device 302, the upper drive device 304, the bevel cutting saw 6, the bevel arm control valve group 902, and the welding arm control valve group 903.

[0067] In the above technical scheme, the hydraulically driven dual-arm laser cladding crack repair robot is mainly used to repair fatigue cracks on the top plate and U-rib of the bridge steel box girder. Since the fatigue cracks of the steel structure are located at a high position and the local space position is relatively narrow, the crack repair operation has high requirements for spatial conditions, so a lifting arm system is designed to lift the two-degree-of-freedom rotating platform system to a reasonable spatial height. During the lifting process, under the premise of meeting the overturning stability, the rotating platform system can be moved and adjusted in a small range relative to the chassis system 1 along the front and rear direction (i.e., horizontal longitudinal direction) of the vehicle body (chassis) through a connecting rod mechanism; a crack repair system is arranged on the rotating platform system, and through the rotation of the lower rotating platform 301 and the upper rotating platform 303, the basic position of the groove arm 5 and the welding arm 7 can be more flexibly adjusted in the horizontal direction at the specified spatial height, thereby realizing the initial positioning of the crack repair system. Among them, the lifting arm system is a lifting system with two degrees of freedom. The lower base 201 of the lifting arm is fixed on the top surface of the front end of the chassis. The upper base 209 of the lifting arm can move relative to the upper arm base of the lifting arm in the vertical direction (upward) and the horizontal direction (longitudinal) under the action of the connecting rod mechanism. The horizontal longitudinal direction here refers to the length direction of the chassis; in the initial state, the upper base 209 of the lifting arm is located directly above the middle of the chassis. When the connecting rod mechanism enters the working state, the upper base 209 of the lifting arm can be lifted upward, and at the same time, the upper base 209 of the lifting arm is adjusted to move above the rear end or front end of the chassis according to the position of the crack. Therefore, the rotating platform system located on the upper base 209 of the lifting arm can be smoothly lifted to the specified construction height while ensuring the stability of the lifting arm system relative to the chassis system to avoid overturning during the lifting process. The lifting arm system can flexibly adjust the position of the upper base 209 of the lifting arm according to construction needs within a two-degree-of-freedom system, so as to smoothly deliver the rotary platform system and the crack repair system carried by it to the construction area. The rotary platform system is a two-degree-of-freedom rotation system. The horizontal area of ​​the upper rotary platform 303 is smaller than that of the lower rotary platform 301. The upper rotary platform 303 is set at one end of the lower rotary platform 301, and the other end can be used to place other construction equipment. Both the upper drive device 304 and the lower drive device 302 can use worm gear type rotary drive. The lower drive device 302 is arranged in the middle of the lower rotating platform 301. The fixed surface of the lower drive device 302 is bolted to the upper base 209 of the lifting arm, and the rotating surface of the lower drive device 302 is bolted to the lower rotating platform 301, so that the lower rotating platform 301 can rotate around the axis of the lower drive device 302 relative to the upper base 209 of the lifting arm; the upper drive device 304 is arranged at the front end of the lower rotating platform 301 and is located in the middle of the upper rotating platform 303. The fixed surface of the upper drive device 304 is bolted to the lower rotating platform 301, and the rotating surface of the upper drive device 304 is bolted to the upper rotating platform 303, so that the upper rotating platform 303 can rotate around the axis of the upper drive device 304 relative to the lower rotating platform 301.The two degrees of freedom of the lifting arm system refer to the two degrees of freedom of movement in the horizontal longitudinal direction and the vertical direction, and the two degrees of freedom of the slewing platform system refer to the degrees of freedom of rotation around the central axis of the upper drive device 304 and the lower drive device 302, respectively. Through the two-degree-of-freedom lifting arm system and the two-degree-of-freedom slewing platform system, the basic positions of the groove arm 5 and the welding arm 7 located on the upper slewing platform 303 can be flexibly adjusted according to the surrounding environment of the location of the crack to be repaired, so that they can obtain a more reasonable spatial basic position, which is convenient for subsequent construction. After the crack repair system is initially positioned, the position of the head end of the groove arm 5 and the welding arm 7 is adjusted by the controller, and the groove cutting saw 6 and the laser powder feeding cladding head 801 are used to successively perform groove processing and laser cladding welding operations on the crack to be repaired, completing a crack repair work.

[0068] Each action mechanism in the chassis system 1, the lifting arm system, the rotary platform system, and the crack repair system is hydraulically driven. The hydraulic pump station 901 in the control system can provide a hydraulic power source for the above-mentioned action mechanisms. The hydraulic pump station 901 is arranged at the rear end of the middle of the upper rotary platform 303 (the rear end of the groove arm and the welding arm). At the same time, the control system is an electro-hydraulic proportional control system. The control functions of each system in the overall robot are integrated in the controller. The controller controls the working state of each action mechanism and electronic components according to instructions to achieve automatic and intelligent control of the entire repair construction process. Specifically, the chassis system 1 has automatic leveling and automatic cruising functions, which can move the entire robot to the position below the crack to be repaired. Here, the wheels of the chassis system are driven by hydraulic motors, and the automatic leveling and automatic cruising functions are integrated in the controller. The connecting rod mechanism, the upper drive device 304, and the lower drive device 302 are also hydraulically driven. The action mechanism inside the bevel arm 5 and the welding arm 7 is hydraulically driven. The working status of the bevel arm 5 and the welding arm 7 can be controlled by sending signals to the bevel arm control valve group 902 and the welding arm control valve group 903 by the controller. The bevel arm 5 is equipped with a bevel cutting saw 6 for performing bevel operations at a suitable position. The motor of the bevel cutting saw 6 is also hydraulically driven; the welding arm 7 is equipped with a laser powder feeding cladding head 801 of the laser powder feeding cladding system for performing welding operations at a suitable position. The power source and main control system of the laser powder feeding cladding system are independently set, but because the laser powder feeding cladding head needs to cooperate with other structures such as the welding arm, the main control system of the laser powder feeding cladding system is electrically connected to the controller to realize linkage control.

[0069] In another technical solution, the hydraulically driven dual-arm laser cladding crack repair robot further includes a visual positioning system, which is electrically connected to the controller, and the visual positioning system includes a positioning bracket 401, which is located between the groove arm 5 and the welding arm 7 and is vertically fixed on the upper rotary platform 303; a basic positioning vision module 402, which is fixed on the top of the positioning bracket 401; a groove approach vision positioning module 403, which is arranged on the groove cutting saw 6 and is used to detect the cutting trajectory; a welding approach vision positioning module 404, which is arranged on the laser powder feeding cladding head 801 and is used to detect the welding trajectory. Among them, the positioning bracket 401 is located at the center of the top surface of the upper rotary platform 303, and the basic positioning visual module 402, the groove progressive visual positioning module 403, and the welding progressive visual positioning module 404 are all cameras. The basic positioning visual module 402 collects the overall image information of the crack to be repaired, which is used to identify the specific position of the crack to be repaired, the crack trajectory and the operating space around the crack; the groove progressive visual positioning module 403 is used to detect the cutting trajectory of the groove cutting saw 6, and the welding progressive visual positioning module 404 is used to detect the welding trajectory of the laser powder feeding cladding head 801. The visual positioning system is electrically connected to the controller, and the basic positioning visual module 402 can further locate and plan the operation path of the crack to be repaired before the repair operation officially starts (before the groove arm and the welding arm move), and the groove progressive visual positioning module 403 and the welding progressive visual positioning module 404 can monitor the trajectory of the groove opening and welding operation during the repair operation and feed it back to the controller in real time, and confirm whether there is a deviation between the current construction status and the setting by comparing with the planned path, so as to further ensure the accuracy of the repair operation.

[0070] In another technical solution, in the hydraulically driven dual-arm laser cladding crack repair robot, the lower base 201 of the lifting arm and the upper base 209 of the lifting arm are both located on the vertical plane where the longitudinal center line of the chassis is located. When the connecting rod mechanism is working to lift, the upper base 209 of the lifting arm still moves along the vertical plane where the longitudinal center line of the chassis is located, so that the lifting arm system can still maintain good balance and stability in the working state, and can effectively prevent the shaking, tipping and other problems of the entire robot.

[0071] In another technical solution, the hydraulically driven dual-arm laser cladding crack repair robot, the connecting rod mechanism includes: a lifting arm joint 205, which is arranged at the other end of the chassis opposite to the lower base 201 of the lifting arm and is located above the chassis; a lifting arm, one end of which is hinged to the lower base 201 of the lifting arm, and the other end is hinged to the lower part of the lifting arm joint 205; a lifting arm hydraulic cylinder 204, a fixed end of which is hinged to the lower base 201 of the lifting arm, and a pushing end is hinged to the lifting arm; a lifting arm, one end of which is hinged to the lifting arm joint 205, and the other end is hinged to the upper base 209 of the lifting arm; a lifting arm hydraulic cylinder 206, a fixed end of which is hinged to the lifting arm joint 205, and a pushing end is hinged to the lifting arm. Among them, the lifting arm joint 205 is supported by the lifting arm at the other end opposite to the lower base 201 of the lifting arm, one end of the lifting arm is supported on the lifting arm joint 205, and the other end of the lifting arm is used to support the upper base 209 of the lifting arm. The projections of the lifting arm and the lifting arm on the chassis plane coincide with the longitudinal horizontal center line of the chassis, and the lifting arm and the lifting arm have opposite rotation directions relative to the lifting arm joint 205, so that the lifting arm system is in a state of force balance as a whole during the jacking operation, and the upper base 209 of the lifting arm is always located above the middle position of the chassis, which improves the overall working stability of the robot. Specifically, the lifting arm and the lifting arm are both parallelogram linkage mechanisms, and the opposite sides remain parallel during movement. The lifting boom includes two connecting rods (an upper connecting rod 203 and a lower connecting rod 202 of the lifting boom) arranged in parallel and at intervals, and the two ends of any connecting rod are respectively hinged to the lower base 201 of the lifting arm and the lifting arm joint 205, and the two ends of the lifting boom hydraulic cylinder 204 are respectively hinged to the lower base 201 of the lifting arm and the upper connecting rod 203 of the lifting boom; the lifting forearm includes two connecting rods (an upper connecting rod 208 and a lower connecting rod 207 of the lifting forearm) arranged in parallel and at intervals, and the two ends of any connecting rod are respectively hinged to the lifting arm joint 205 and the upper base 209 of the lifting arm, and the two ends of the lifting forearm hydraulic cylinder 206 are respectively hinged to the lifting arm joint 205 and the lower connecting rod 207 of the lifting forearm.

[0072] In another technical solution, the hydraulically driven dual-arm laser cladding crack repair robot, the groove arm 5 and the welding arm 7 are both six-axis serial robot arms, which include a robot arm base, which is fixed to the top surface of the upper rotary platform 303; a shoulder joint, which is arranged on the robot arm base and driven by a shoulder joint motor 1 to rotate horizontally around the axis of the robot arm base; a robot arm, whose tail end is hinged to the shoulder joint through a shoulder joint motor 2; an elbow joint, which is hinged to the head end of the robot arm through an elbow joint motor 1; a robot forearm, whose tail end is arranged on the elbow joint and is driven to rotate around the axis of the robot forearm through an elbow joint motor 2; a wrist joint, which is hinged to the head end of the robot forearm through a wrist joint motor 1; a flange, which is arranged on the wrist joint and is driven by a wrist joint motor 2 to rotate around the axis of the wrist joint;

[0073] Among them, the shoulder joint motor 1, the shoulder joint motor 2, the elbow joint motor 1, the elbow joint motor 2, the wrist joint motor 1, and the wrist joint motor 2 on the same robotic arm are all electrically connected to the groove arm control valve group 902 or the welding arm control valve group 903.

[0074] In the above technical scheme, the groove arm 5 includes a groove arm base 501, which is installed on one side of the upper rotating platform 303; a groove arm shoulder joint 502, which is connected to the groove arm base 501 through a groove arm shoulder joint motor 1 503 and generates relative rotation; a groove arm 505, whose tail end is connected to the groove arm shoulder joint 502 through a groove arm shoulder joint motor 2 504 and generates relative rotation, and the groove arm shoulder joint motor 1 503 and the groove arm shoulder joint motor 2 504 are both arranged in the groove arm shoulder joint 502; a groove arm elbow joint 506, which is connected to the head end of the groove arm 505 through a groove arm elbow joint motor 1 507 and generates relative rotation; The bevel arm 509, the rear end of which is connected to the bevel arm elbow joint 506 through the bevel arm elbow joint motor 2 508 and generates relative rotation, and the bevel arm elbow joint motor 1 507 and the bevel arm elbow joint motor 2 508 are both arranged in the bevel arm elbow joint 506; the bevel arm wrist joint 510, its bevel arm wrist joint motor 1 511 is connected to the head end of the bevel arm 509 and generates relative rotation; the bevel arm flange 513, which is connected to the bevel arm wrist joint 510 through the bevel arm wrist joint motor 2 512 and generates relative rotation, and the bevel arm wrist joint motor 1 511 and the bevel arm wrist joint motor 2 512 are both arranged in the bevel arm wrist joint 510. The bevel arm shoulder joint motor 1 503, the bevel arm shoulder joint motor 2 504, the bevel arm elbow joint motor 1 507, the bevel arm elbow joint motor 2 508, the bevel arm wrist joint motor 1 511, and the bevel arm wrist joint motor 2 512 are all hydraulic drive motors and are electrically connected to the bevel arm control valve group 902, and the bevel arm control valve group 902 is arranged on the upper surface of the bevel arm shoulder joint 502.

[0075] The welding arm 7 includes a welding arm base 701, which is installed on the other side of the upper rotating platform 303, and the welding arm base 701 and the groove arm base 501 are symmetrically arranged on the upper rotating platform 303; a welding arm shoulder joint 702, which is connected to the welding arm base 701 through a welding arm shoulder joint motor 1 703 and generates relative rotation; a welding arm 705, whose tail end is connected to the welding arm shoulder joint 702 through a welding arm shoulder joint motor 2 704 and generates relative rotation, and the welding arm shoulder joint motor 1 703 and the welding arm shoulder joint motor 2 704 are both arranged in the welding arm shoulder joint 702; a welding arm elbow joint 706, which is connected to the welding arm 705 through a welding arm elbow joint motor 1 707. The head end of the welding arm 709 is connected and generates relative rotation; the welding arm 709, the tail end of which is connected to the welding arm elbow joint 706 through the welding arm elbow joint motor 2 708 and generates relative rotation, and the welding arm elbow joint motor 1 707 and the welding arm elbow joint motor 2 708 are both arranged in the welding arm elbow joint 706; the welding arm wrist joint 710, its welding arm wrist joint motor 1 711 is connected to the head end of the welding arm 709 and generates relative rotation; the welding arm flange 713, which is connected to the welding arm wrist joint 710 through the welding arm wrist joint motor 2 712 and generates relative rotation, and the welding arm wrist joint motor 1 711 and the welding arm wrist joint motor 2 712 are both arranged in the welding arm wrist joint 710. The welding arm shoulder joint motor 1 703, the welding arm shoulder joint motor 2 704, the welding arm elbow joint motor 1 707, the welding arm elbow joint motor 2 708, the welding arm wrist joint motor 1 711, and the welding arm wrist joint motor 2 712 are all hydraulic drive motors and are electrically connected to the welding arm control valve group 903. The welding arm control valve group 903 is arranged on the upper surface of the welding arm shoulder joint 702.

[0076] Thus, the groove arm control valve group 902 and the welding arm control valve group 903 can receive the command signal from the controller and control the working state of each joint motor in the corresponding mechanical arm, that is, adjust the rotation angle of each joint in the corresponding mechanical arm according to the construction requirements, so that the groove cutting saw 6 and the laser powder feeding cladding head 801 can repair the crack to be repaired according to a certain trajectory. The groove arm 5 and the welding arm 7 both adopt six-axis serial mechanical arms, and their joint motors are hydraulically driven. In conjunction with the groove arm control valve group and the welding arm control valve group, they can provide strong load control capabilities and meet the stability requirements of crack repair operations.

[0077] In another technical solution, the hydraulically driven dual-arm laser cladding crack repair robot, the groove cutting saw 6 includes a cutting saw bracket 601, which is fixedly connected to the flange of the groove arm 5; a saw blade 603, which is arranged on the cutting saw bracket 601; a cutting saw motor 602, which is arranged on the cutting saw bracket 601 and drives the saw blade 603 to rotate, and the cutting saw motor 602 is electrically connected to the controller;

[0078] The laser powder feeding cladding head 801 is connected to the flange of the welding arm 7. The laser powder feeding cladding system also includes a laser cladding powder feeder 802, a laser cladding control cabinet 803, a laser cladding chiller 804, a laser cladding voltage stabilizer 805 and a laser 806. The laser cladding control cabinet 803 is electrically connected to the controller.

[0079] In the above technical solution, the groove approach visual positioning module 403 is installed on the cutting saw bracket 601, and the welding approach visual positioning module 404 is installed in the middle of the laser powder feeding cladding head 801. The cutting saw motor 602 is a hydraulic drive motor. The controller can control the working state of the cutting saw motor 602, that is, the working state of the saw blade 603. The laser powder feeding cladding system includes an independent control system, which provides welding raw materials to the laser powder feeding cladding head 801 through the laser cladding powder feeder 802, the laser 806, etc. The laser cladding control cabinet 803 is used to control the powder feeding and cladding process. In addition, there is an electrical connection between the laser cladding control cabinet 803 and the controller, which is convenient for adjusting the working state of the laser powder feeding cladding system according to the current construction progress.

[0080] In another technical solution, the hydraulically driven dual-arm laser cladding crack repair robot, the control system also includes a plurality of pressure sensors, which are respectively arranged on the motors in the shoulder joint, the elbow joint and the wrist joint, any of which is electrically connected to the controller and configured to detect the oil inlet and outlet pressures of the corresponding motors; a plurality of encoders, which are respectively arranged on the motors in the shoulder joint, the elbow joint and the wrist joint, any of which is electrically connected to the controller and configured to detect the rotation speed of the corresponding motors. Specifically, the pressure sensors are installed at the oil inlet and outlet of each joint motor on the groove arm 5 and the welding arm 7 to monitor the working pressure of each joint motor in real time; the encoders are installed on the rotating shafts of each joint motor on the groove arm 5 and the welding arm 7 to monitor the rotation variable information of each joint motor in real time. Thus, the working state of each joint motor of the robotic arm is monitored in real time to ensure the stability and safety of the robotic arm.

[0081] In another technical solution, the hydraulically driven dual-arm laser cladding crack repair robot, the rotary platform system also includes a tool box 305, which is arranged on the top surface of the rear end of the lower rotary platform 301, and the laser cladding powder feeder 802, laser cladding control cabinet 803, laser cladding chiller 804, laser cladding voltage stabilizer 805, laser 806 and the controller of the laser powder feeding cladding system are all arranged inside the tool box 305. In the above technical scheme, the toolbox 305 is an outer shell with a hollow interior. The laser cladding powder feeder 802, laser cladding control cabinet 803, laser cladding chiller 804, laser cladding voltage stabilizer 805, and laser 806 are all arranged inside the toolbox 305. The controller is integrated in the electric control box 904, and the electric control box 904 is arranged in the toolbox 305, so that the relatively fixed electronic device structures of each system of the robot can be concentrated on the lower rotary platform 301. On the one hand, the balance of the two ends of the lower rotary platform 301 is ensured. On the other hand, the components in the toolbox can be protected to avoid the falling of debris such as gravel during the repair construction to damage the electronic devices and affect the normal operation of the robot.

[0082] The present invention also provides a hydraulically driven double-arm laser cladding crack repair construction method, comprising:

[0083] S1, driving the chassis system 1 to move along the ground, so that the hydraulically driven dual-arm laser cladding crack repair robot moves to the bottom of the crack to be repaired, and leveling the whole vehicle;

[0084] S2, lifting the upper base 209 of the lifting and conveying arm through the connecting rod mechanism, so that the upper rotating platform 303 reaches the set construction height;

[0085] S3, respectively adjusting the rotation angles of the lower rotary platform 301 and the upper rotary platform 303 by the lower driving device 302 and the upper driving device 304, so that the groove arm 5 and the welding arm 7 are moved in the horizontal direction to the vicinity of the crack to be repaired;

[0086] S4, identifying the specific location of the crack to be repaired, the crack trajectory and the operating space around the crack through the basic positioning vision module 402, and transmitting the collected basic positioning data to the controller through electrical signals;

[0087] S5, the controller plans the cutting trajectory of the groove arm 5 and the welding trajectory of the welding arm 7 according to the basic positioning data;

[0088] S6, the controller sends a command signal to the bevel arm control valve group 902, and the motors of the joints of the bevel arm 5 are actuated to move the saw blade 603 of the bevel cutting saw to the position to be cut, and then the cutting saw motor 602 is started, and the rotation angles of the joints of the bevel arm 5 are adjusted according to the planned cutting trajectory, and the saw blade 603 is operated to open a bevel of a specified depth and angle;

[0089] S7, a command signal is sent to the welding arm control valve group 903 through the controller, and the motors of each joint of the welding arm 7 are actuated to move the laser powder feeding cladding head 801 to the position to be welded, and then the laser powder feeding cladding system is started, and the rotation angles of each joint of the welding arm 7 are adjusted according to the planned welding trajectory, and the laser powder feeding cladding head 801 is operated to perform the laser powder feeding welding operation;

[0090] S8, control the groove arm 5, welding arm 7, rotary platform system and lifting arm system to reset through the controller, and prepare for the next crack repair work;

[0091] S9, repeat the contents of S1-S8 to carry out the next repair operation.

[0092] In the above technical solution, the method for repairing the crack is: the six-axis serial robot arm (groove arm 5) controls the groove cutting saw 6 to open the groove of the specified depth and angle, and the six-axis serial robot arm (welding arm 7) controls the laser powder feeding cladding head 801 to weld the crack. During the operation, the electro-hydraulic proportional control technology is used to ensure the execution accuracy of the six-axis robot arm. The controller is used to process the feedback signals of the detection module (pressure sensor, encoder, etc.) of the control system and the visual positioning system and issue command signals to each control valve group to control the movement trajectory of the groove arm 5 and the welding arm 7, and then control the working trajectory of the groove cutting saw 6 and the laser powder feeding cladding head 801.

[0093] In addition, when encountering a thinner steel plate, there is no need to open a groove, so only the welding arm 7 needs to be moved, and the laser powder feeding cladding head 801 needs to be operated to perform cladding welding and closing fatigue cracks, so as to complete the fatigue crack repair of the thinner steel plate (omitting the content of step S6); when encountering a thicker steel plate, it is necessary to first open a welding groove at the crack to ensure the depth and quality of the weld, which requires the groove arm 5 to move first, and operate the groove cutting saw 6 to open a groove of a certain depth and angle at the fatigue crack. After the groove is completed, the welding arm 7 needs to be moved, and the laser powder feeding cladding head 801 needs to be operated to perform powder feeding cladding welding and closing fatigue cracks, so as to complete the fatigue crack repair of the thicker steel plate.

[0094] In another technical solution, in the hydraulically driven dual-arm laser cladding crack repair construction method, in S6, the cutting trajectory of the groove arm 5 is detected in real time by the groove asymptotic positioning visual module and the collected cutting trajectory data is fed back to the controller, and the deviation between the real-time cutting trajectory and the planned cutting trajectory is analyzed and compared by the controller, and then the deviation correction signal is sent to the groove arm control valve group 902 by the controller to perform closed-loop control on the cutting trajectory;

[0095] In S7, the welding trajectory of the welding arm 7 is detected in real time through the welding asymptotic positioning vision module and the collected welding trajectory data is fed back to the controller. The controller analyzes and compares the deviation between the real-time welding trajectory and the planned welding trajectory, and then sends a deviation correction signal to the welding arm control valve group 903 through the controller to perform closed-loop control of the welding trajectory.

[0096] In the above technical solution, the bevel asymptotic positioning visual module is used to detect the cutting trajectory and provide real-time feedback to the controller during the operation of the bevel cutting saw 6, and the welding asymptotic positioning visual module is used to detect the welding trajectory and provide real-time feedback to the controller during the operation of the laser powder feeding cladding head 801, thereby realizing the monitoring of the operation process, and using the detection data for further feedback control of the cutting and welding working states. Thus, the location and trajectory of the crack to be repaired can be obtained more accurately through the method of fusion positioning of the basic visual module and the asymptotic visual module, thereby improving the operation precision and accuracy, and further improving the repair quality.

[0097] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A hydraulically driven dual-arm laser cladding crack repair robot, characterized in that: include: A chassis system, which includes a chassis that moves along the ground by being driven by wheels; A lifting arm system, comprising a lifting arm lower base, which is fixed on the top surface of the chassis; a lifting arm upper base, which is arranged above the chassis; a connecting rod mechanism, which connects the lifting arm lower base and the lifting arm upper base, and the connecting rod mechanism is configured to adjust the spacing between the lifting arm upper base and the lifting arm lower base in the vertical direction and the horizontal longitudinal direction; The rotary platform system comprises a lower rotary platform, which is arranged on the top surface of the upper base of the lifting arm and is driven to rotate in the horizontal direction by a lower driving device; an upper rotary platform, which is arranged on the top surface of the front end of the lower rotary platform and is driven to rotate in the horizontal direction by an upper driving device; The crack repair system includes a groove arm and a welding arm, and the bases thereof are respectively arranged on both sides of the top of the upper rotary platform; a groove cutting saw is arranged at the head end of the groove arm; a laser powder feeding cladding system includes a laser powder feeding cladding head, which is arranged at the head end of the welding arm; A control system includes a hydraulic pump station, which is configured to provide power for the chassis system, the connecting rod mechanism, the lower drive device, the upper drive device, the bevel arm, the welding arm and the bevel cutting saw; a bevel arm control valve group, which is configured to control the movement of the bevel arm; a welding arm control valve group, which is configured to control the movement of the welding arm; and a controller, which is electrically connected to the chassis system, the connecting rod mechanism, the lower drive device, the upper drive device, the bevel cutting saw, the bevel arm control valve group, and the welding arm control valve group.

2. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 1, characterized in that: It also includes a visual positioning system, which is electrically connected to the controller. The visual positioning system includes a positioning bracket, which is located between the groove arm and the welding arm and is vertically fixed on the upper rotary platform; a basic positioning vision module, which is fixed on the top of the positioning bracket; a groove approaching vision positioning module, which is arranged on the groove cutting saw and used to detect the cutting trajectory; and a welding approaching vision positioning module, which is arranged on the laser powder feeding cladding head and used to detect the welding trajectory.

3. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 1, characterized in that: The lower base of the lifting arm and the upper base of the lifting arm are both located on a vertical plane where the longitudinal center line of the chassis is located.

4. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 1, characterized in that: The connecting rod mechanism includes: a lifting arm joint, which is arranged at the other end of the chassis opposite to the lower base of the lifting arm and is located above the chassis; a lifting arm, one end of which is hinged to the lower base of the lifting arm, and the other end is hinged to the lower part of the lifting arm joint; a lifting arm hydraulic cylinder, a fixed end of which is hinged to the lower base of the lifting arm, and a pushing end is hinged to the lifting arm; a lifting arm, one end of which is hinged to the lifting arm joint, and the other end is hinged to the upper base of the lifting arm; a lifting arm hydraulic cylinder, a fixed end of which is hinged to the lifting arm joint, and a pushing end is hinged to the lifting arm.

5. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 1, characterized in that: The groove arm and the welding arm are both six-axis serial robot arms, which include a robot base, which is fixed to the top surface of the upper rotary platform; a shoulder joint, which is arranged on the robot base and driven by a shoulder joint motor to rotate horizontally around the axis of the robot base; a robot arm, whose tail end is hinged to the shoulder joint through a shoulder joint motor; an elbow joint, which is hinged to the head end of the robot arm through an elbow joint motor; a robot forearm, whose tail end is arranged on the elbow joint and driven to rotate around the axis of the robot forearm through an elbow joint motor; a wrist joint, which is hinged to the head end of the robot forearm through a wrist joint motor; a flange, which is arranged on the wrist joint and driven by a wrist joint motor to rotate around the axis of the wrist joint; Among them, the shoulder joint motor 1, the shoulder joint motor 2, the elbow joint motor 1, the elbow joint motor 2, the wrist joint motor 1 and the wrist joint motor 2 on the same robotic arm are all electrically connected to the groove arm control valve group or the welding arm control valve group.

6. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 5, characterized in that: The bevel cutting saw comprises a cutting saw bracket, which is fixedly connected to the flange of the bevel arm; a saw blade, which is arranged on the cutting saw bracket; a cutting saw motor, which is arranged on the cutting saw bracket and drives the saw blade to rotate, and the cutting saw motor is electrically connected to the controller; The laser powder feeding cladding head is connected to the flange of the welding arm. The laser powder feeding cladding system also includes a laser cladding powder feeder, a laser cladding control cabinet, a laser cladding chiller, a laser cladding voltage stabilizer and a laser. The laser cladding control cabinet is electrically connected to the controller.

7. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 5, characterized in that: The control system also includes multiple pressure sensors, which are respectively arranged on the motors in the shoulder joint, the elbow joint and the wrist joint, and any one of the pressure sensors is electrically connected to the controller and is configured to detect the inlet and outlet oil pressures of the corresponding motor; multiple encoders, which are respectively arranged on the motors in the shoulder joint, the elbow joint and the wrist joint, and any one of the encoders is electrically connected to the controller and is configured to detect the rotational speed of the corresponding motor.

8. The hydraulically driven dual-arm laser cladding crack repair robot according to claim 6, characterized in that: The rotary platform system also includes a tool box, which is arranged on the top surface of the rear end of the lower rotary platform. The laser cladding powder feeder, laser cladding control cabinet, laser cladding chiller, laser cladding voltage stabilizer, laser and the controller of the laser powder feeding cladding system are all arranged inside the tool box.

9. A hydraulically driven dual-arm laser cladding crack repair construction method based on the hydraulically driven dual-arm laser cladding crack repair robot according to claim 2, characterized in that: include: S1, driving the chassis system to move along the ground, allowing the hydraulically driven dual-arm laser cladding crack repair robot to move below the crack to be repaired, and leveling the entire vehicle; S2. Lift the upper base of the lifting arm through the connecting rod mechanism to make the upper rotary platform reach the set construction height; S3, respectively adjusting the rotation angles of the lower rotary platform and the upper rotary platform through the lower driving device and the upper driving device, so that the groove arm and the welding arm move horizontally to the vicinity of the crack to be repaired; S4, identifying the specific location of the crack to be repaired, the crack trajectory and the operating space around the crack through the basic positioning vision module, and transmitting the collected basic positioning data to the controller through electrical signals; S5. The controller plans the cutting trajectory of the groove arm and the welding trajectory of the welding arm according to the basic positioning data; S6. Send a command signal to the beveling arm control valve group through the controller, so that the motors of each joint of the beveling arm are actuated to move the saw blade of the beveling cutting saw to the position to be cut, and then start the cutting saw motor, and adjust the rotation angle of each joint of the beveling arm according to the planned cutting trajectory, and operate the saw blade to open a beveling of a specified depth and angle; S7, a command signal is sent to the control valve group of the welding arm through the controller, and the motors of each joint of the welding arm are actuated to move the laser powder feeding cladding head to the position to be welded, and then the laser powder feeding cladding system is started, and the rotation angles of each joint of the welding arm are adjusted according to the planned welding trajectory, and the laser powder feeding cladding head is operated to perform the laser powder feeding welding operation; S8, control the groove arm, welding arm, rotary platform system and lifting arm system to reset through the controller, and prepare for the next crack repair work; S9, repeat the contents of S1-S8 to carry out the next repair operation.

10. The hydraulically driven double-arm laser cladding crack repair construction method according to claim 9, characterized in that: In S6, the cutting trajectory of the groove arm is detected in real time through the groove asymptotic positioning vision module and the collected cutting trajectory data is fed back to the controller. The controller analyzes and compares the deviation between the real-time cutting trajectory and the planned cutting trajectory, and then sends a deviation correction signal to the groove arm control valve group through the controller to perform closed-loop control of the cutting trajectory. In S7, the welding trajectory of the welding arm is detected in real time through the welding asymptotic positioning vision module and the collected welding trajectory data is fed back to the controller. The controller analyzes and compares the deviation between the real-time welding trajectory and the planned welding trajectory, and then sends a deviation correction signal to the welding arm control valve group through the controller to perform closed-loop control of the welding trajectory.

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